7. SPECIAL ADJUSTMENT FUNCTIONS
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(2) Adjustment procedure
In the super trace control, droop pulses are near 0 during the servo motor
control. Thus, the normal INP (In-position) may always be turned on. Be sure to
set "INP (In-position) on condition selection" in [Pr. PD31] to " _ 1 _ _".
When you use the super trace control, it is recommended that the acceleration
time constant up to the rated speed be set to 1 s or more.
The following shows the adjustment procedure.
Execute the gain adjustment with one-touch tuning, auto tuning,
etc. Refer to chapter 6 for details.
Change the setting of auto tuning mode to the manual mode ([Pr.
PA08]: _ _ _ 3).
Change the setting of feed forward gain ([Pr. PB04]), and adjust
that droop pulses will be 0 at a constant speed.
Set the setting of INP (In-position) on condition selection ([Pr.
PD31]) to " _ 1 _ _".
Enable the super trace control. ([Pr. PA22]: _ _ 2 _)
Change the setting of model loop gain ([Pr. PB07]), and adjust
droop pulses during acceleration/deceleration.
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